Control apparatus and method for improving fuel efficiency in CACC system

ABSTRACT

Disclosed herein is a control apparatus and method for improving fuel efficiency in a CACC system, which can improve fuel efficiency through control of a vehicle speed so that a vehicle travels using an optimized cost in consideration of a target vehicle speed, current vehicle speed, minimum driving speed set in the vehicle, and a deceleration distance if the vehicle that uses the CACC system senses a forward vehicle and enters into a CACC active mode. The control method for improving fuel efficiency in a CACC system includes setting a target speed profile based on a target speed of the subject vehicle and an expected driving path, determining whether a target vehicle to be followed by the subject vehicle exists, and controlling the driving speed of the subject vehicle according to the set target speed profile depending on whether or not the target vehicle exists.

This application is the continuation application of U.S. patentapplication Ser. No. 16/424,023 filed May 28, 2019, which is thecontinuation application of U.S. patent application Ser. No. 15/638,093filed Jun. 29, 2017, now U.S. Pat. No. 10,308,248, which is acontinuation-in-part of U.S. patent application Ser. No. 15/368,023filed Dec. 2, 2016, now U.S. Pat. No. 10,052,952, which claims thebenefit of Korean Application Nos. 10-2016-0184301 filed Dec. 30, 2016and 10-2016-0083493 filed Jul. 1, 2016, the entire contents of each arehereby incorporated by reference.

BACKGROUND OF THE INVENTION Field of the Invention

Exemplary embodiments of the present invention relate to a controlapparatus and method for improving fuel efficiency in a cooperativeadaptive cruise control (CACC) active mode in a CACC system, and moreparticularly, to a control apparatus and method for improving fuelefficiency in a CACC active mode, which can improve the fuel efficiencythrough control of a vehicle speed so that a vehicle travels using anoptimized cost in consideration of a target vehicle speed, a currentspeed of the vehicle, the minimum driving speed set in the vehicle, anda deceleration distance if the vehicle that uses the CACC system sensesa forwarding vehicle and enters into the CACC active mode.

Description of the Related Art

An adaptive cruise control (hereinafter referred to as “ACC”) system isa system which operates to perform automated driving at a speed that isequal to or lower than that set by a driver and to maintain aninter-vehicle distance to a target vehicle that is equal to or largerthan a predetermined distance. The ACC system provides a followingfunction for maintaining the vehicle distance enough to preventcollision with a forward target vehicle, which is acquired by distanceand/or position measurement sensors mounted on the vehicle, or a cruisefunction for performing automated driving at the speed set by the user.

The ACC system can enable the driver not to continuously operate anaccelerator pedal in order to adjust the driving speed of the vehicle toprovide convenience to the driver, and can achieve safety driving bymaintaining the predetermined distance to the target vehicle andpreventing the vehicle from driving over the set speed.

On the other hand, a CACC system is a system that can improve the ACCfunction through addition of V2X (Vehicle to Everything) communicationsto the above-described ACC system. The CACC system may receive the speedlimit of a road through V2I (Vehicle to Infrastructure), receiveinformation on a target vehicle that travels in the same lane throughV2V (Vehicle to Vehicle), and then improve the ACC performance based onreceived information.

Recently, in association with a driving path setting system, such asnavigation, which is positioned in the vehicle, the CACC system may setand use a target speed profile for improving the fuel efficiency inconsideration of road information on the driving path.

In general, the CACC system operates to prevent collision with a targetvehicle in a manner that it performs driving with the set target speedprofile in the case where no target vehicle exists, and if the targetvehicle is found or a forward vehicle is connected thereto, it performsdeceleration driving to maintain a predetermined distance to the targetvehicle. However, if the target vehicle is found and the vehicledeceleration is performed through braking in order to maintain apredetermined inter-vehicle distance, the driving is performed with atarget speed profile that is different from the initially set targetspeed profile, and the speed of the subject vehicle is adjusted on thebasis of the speed of the target vehicle. Accordingly, a stiff controlin which acceleration/deceleration control is frequently performed maybe performed to lower the fuel efficiency.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a control apparatus andmethod for improving fuel efficiency in a cooperative adaptive cruisecontrol (CACC) system, which can control a current speed of a subjectvehicle if a target vehicle exists, and can set a new target speedprofile having an optimized cost based on the current speed that ischanged according to the target vehicle in the CACC system that is basedon V2X (Vehicle to Everything) communications and a radar.

Other objects and advantages of the present invention can be understoodby the following description, and become apparent with reference to theembodiments of the present invention. Also, it is obvious to thoseskilled in the art to which the present invention pertains that theobjects and advantages of the present invention can be realized by themeans as claimed and combinations thereof.

In accordance with one aspect of the present invention, a cooperativeadaptive cruise control (hereinafter referred to as “CACC”) system thatis provided in a subject vehicle to control a driving speed of thesubject vehicle includes a communication unit configured to receivevehicle information including position and driving information fromneighboring vehicles; an information collection unit configured tocollect driving information of a forward vehicle and vehicle informationof the subject vehicle using sensors provided on the subject vehicle;and a control unit configured to select a target vehicle to be followedby the subject vehicle based on the vehicle information of theneighboring vehicles that is acquired by the communication unit and thedriving information of the forward vehicle that is collected by theinformation collection unit, to control the driving speed of the subjectvehicle based on a target speed of the subject vehicle if the targetvehicle to be followed by the subject vehicle is not selected, and tocontrol the driving speed of the subject vehicle based on speedinformation of the target vehicle, speed information of the subjectvehicle, and a target time gap if the target vehicle to be followed bythe subject vehicle is selected.

The CACC system according to the aspect of the present invention mayfurther include a driving unit configured to control a throttle and abrake, wherein the control unit controls the driving unit to control thedriving speed of the subject vehicle. Further, the CACC system accordingto the aspect of the present invention may further include a drivervehicle interface (DVI) unit configured to receive an input of thetarget speed and/or the target time gap from a driver and to notify thedriver of state information of the CACC system.

The control unit may include a state management unit configured tomanage a state of the CACC system; a target vehicle selection unitconfigured to select the target vehicle to be followed by the subjectvehicle based on the vehicle information of the neighboring vehiclesthat is acquired from the communication unit and the driving informationof the forward vehicle that is collected by the information collectionunit; a profile management unit configured to set a target speed profilebased on the target speed of the subject vehicle and an expected drivingpath if there is not the target vehicle that is selected by the targetvehicle selection unit, and to set a target speed profile based on thespeed information of the target vehicle, the speed information of thesubject vehicle, and the expected driving path if there is the targetvehicle that is selected by the target vehicle selection unit; and adriving management unit configured to control the driving speed of thesubject vehicle according to the set target speed profile.

The state management unit may display the state of the CACC system asone of an off state in which the CACC system does not operate, a standbystate in which the CACC system operates, but does not control thedriving speed of the subject vehicle, an ACC activation state in whichthe driving speed of the subject vehicle is controlled using only theinformation that is acquired from the subject vehicle in a state wherethere is no vehicle in a region of interest that is connected throughV2V communications, and a cooperative activation state in which there isthe neighboring vehicle in the region of interest that is connectedthrough the V2V communications, and the driving speed of the subjectvehicle is controlled using the information from the neighboring vehiclethat is acquired through the V2V communications and the information thatis acquired from the subject vehicle.

The driving management unit may request the profile management unit toset a new target speed profile if there is a possibility of collisionwhen the driving speed of the subject vehicle is controlled according tothe set target speed profile, and the profile management unit may resetthe target speed profile based on the speed information of the targetvehicle, the speed information of the subject vehicle, and the expectedpath information according to the request for the new target speedprofile setting from the driving management unit.

In accordance with another aspect of the present invention, a controlmethod for improving fuel efficiency in a cooperative adaptive cruisecontrol (hereinafter referred to as “CACC”) system that is provided in asubject vehicle to control a driving speed of the subject vehicleincludes determining whether to start the CACC system operation; settinga target speed profile based on a target speed of the subject vehicleand an expected driving path; determining whether a target vehicle to befollowed by the subject vehicle exists; controlling the driving speed ofthe subject vehicle according to the set target speed profile if thetarget vehicle does not exist as the result of the determination;comparing a minimum distance Ds that can prevent collision with thetarget vehicle even if the subject vehicle is driven according to thetarget speed profile with a current distance Dc to the target vehicle ifthe target vehicle exists as the result of the determination; andcontrolling the driving speed of the subject vehicle according to thetarget speed profile if the current distance Dc is larger than theminimum distance Ds, and performing a fuel efficiency driving if thecurrent distance Dc is smaller than the minimum distance Ds as theresult of the comparison.

Here, the fuel efficiency driving may be performed in consideration of adriving cost Cc in the case of driving to maintain a decelerated currentspeed after deceleration so that the minimum distance Ds becomes smallerthan the current distance Dc, a driving cost Ccontrol in the case ofdriving according to a new target speed profile that is generated basedon the decelerated current speed, a speed of the target vehicle, thespeed of the subject vehicle, a minimum driving speed set in the subjectvehicle, a distance required to reach the speed Vtarget of the targetvehicle through an auxiliary deceleration means, and a distance marginaccording to a deceleration method.

The performing the fuel efficiency driving may include comparing thedriving cost Cc in the case of the current constant-speed driving afterthe deceleration of the subject vehicle so that the minimum distance Dsbecomes smaller than the current distance Dc, with the driving costCcontrol in the case of the driving according to the new target speedprofile that is generated based on the decelerated current speed;maintaining the constant-speed driving at the current speed of thesubject vehicle or performing the deceleration through comparison of thecurrent speed of the subject vehicle with the speed of the targetvehicle if the driving cost Cc is smaller than the driving cost Ccontrolas the result of the comparison; and comparing the current speed of thesubject vehicle with the minimum speed that is set in the subjectvehicle if the driving cost Cc is larger than the driving cost Ccontrolas the result of the comparison, wherein the comparing the current speedof the subject vehicle with the minimum speed that is set in the subjectvehicle includes performing decelerated driving through the auxiliarydeceleration means if the current speed of the subject vehicle is higherthan the minimum speed that is set in the subject vehicle; andperforming the driving at the minimum speed that is set in the subjectvehicle if the current speed of the subject vehicle is lower than theminimum speed that is set in the subject vehicle.

The maintaining the constant-speed driving at the current speed of thesubject vehicle or performing the deceleration through comparison of thecurrent speed of the subject vehicle with the speed of the targetvehicle may further include performing the driving at the current speedof the subject vehicle if the current speed of the subject vehicle islower than the speed of the target vehicle; and comparing a currentdistance Dc2 between the subject vehicle and the target vehicle with asum of a distance Dcruise that is required to reach the driving speed ofthe target vehicle through the auxiliary deceleration means and thedistance margin M1 according to the auxiliary deceleration means if thecurrent speed of the subject vehicle is larger than the speed of thetarget vehicle.

The comparing the current distance Dc2 with the sum of the distanceDcruise and the distance margin M1 may include performing the driving atthe current speed of the vehicle if the current distance Dc2 is largerthan the sum of the distance Dcruise and the distance margin M1; andcomparing the current distance Dc2 with a sum of a distance Dbrake thatis required to reach the driving speed of the target vehicle throughperforming braking by a brake and a distance margin M2 that is requiredduring the braking by the brake if the current distance Dc2 is smallerthan the sum of the distance Dcruise and the distance margin M1.

The comparing the current distance Dc2 with the sum of the distanceDbrake and the distance margin M2 may include performing thedeceleration through the auxiliary deceleration means of the vehicle ifthe current distance Dc2 is larger than the sum of the distance Dbrakeand the distance margin M2; and performing the deceleration through thebraking by the brake if the current distance Dc2 is smaller than the sumof the distance Dbrake and the distance margin M2.

The target speed profile may be set in consideration of road informationon a driving path of the vehicle, and the road information may include aroad curvature, a grade, and a radius of rotation.

According to the configurations, a combination thereof, and the userelationship between them according to the embodiments of the presentinvention as described above, the following effects can be achieved.

In performing the CACC system, even in the case where the target vehicleexists, the fuel efficiency can be improved through following of a newtarget speed profile without collision.

Further, since it is not required to artificially perform continuousdeceleration according to the distance to the target vehicle, anadditional advantage can be provided on the side of the fuel efficiency.

Further, in the case of securing the distance enough to prevent thecollision with the target vehicle, the system is configured to follow anew driving method according to the current speed of the vehicle, andthus the driving cost can be optimized.

It is to be understood that both the foregoing general description andthe following detailed description of the present invention areexemplary and explanatory and are intended to provide furtherexplanation of the invention as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and other advantages of thepresent invention will be more clearly understood from the followingdetailed description taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 is an exemplary diagram of a CACC system to which the presentinvention is applied;

FIG. 2 is a diagram illustrating a region of interest (ROI) of a CACCsystem on a straight road;

FIG. 3 is a block diagram illustrating the configuration of a CACCsystem according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating state transitions of a CACC systemaccording to an embodiment of the present invention;

FIG. 5 is a diagram illustrating a target speed profile that isgenerated by a profile management unit 337 according to driver's targetspeed setting and a driving speed of a target vehicle according to anembodiment of the present invention;

FIG. 6 is a diagram illustrating a new target speed profile that is setby a profile management unit 337 according to a driving speed of atarget vehicle;

FIG. 7 is a diagram illustrating an example in which a new target speedprofile is set after deceleration is performed to maintain a presetminimum inter-vehicle distance or a minimum time gap according to anembodiment of the present invention;

FIG. 8 is a diagram illustrating an example of a driving speed of asubject vehicle according to an inter-vehicle distance and cost sizes ofCc and Ccontrol according to the present invention;

FIG. 9 is a diagram illustrating a change of an inter-vehicle distancebetween a subject vehicle and a target vehicle in the case where thesubject vehicle performs constant-speed driving at a speed that ishigher than a target vehicle driving speed according to an embodiment ofthe present invention;

FIG. 10 is a diagram illustrating distance relations among Dcruise,Dbrake, and M1 and M2;

FIG. 11 is a flowchart of a control method for improving fuel efficiencyof a CACC system using a target speed profile if a target vehicle existsaccording to an embodiment of the present invention; and

FIG. 12 is a flowchart illustrating a control method for performingfuel-efficiency driving according to an embodiment of the presentinvention.

DESCRIPTION OF SPECIFIC EMBODIMENTS

In order to clearly explain the present invention, portions that are notrelated to the explanation are omitted, and in the entire description ofthe present invention, the same reference numerals are used for the sameor similar elements across various figures.

In the entire description of the present invention, the term “connectedto” or “coupled to” that is used to designate a connection or couplingof one element to another element includes both a case that an elementis “directly connected or coupled to” another element and a case that anelement is connected or coupled to another element via still anotherelement. The term “includes” and/or “including” used in the descriptionmeans that one or more other components are not excluded in addition tothe described components.

The term “on” that is used to designate that an element is on anotherelement includes both a case where an element is located directly onanother element and a case where an element is located on anotherelement via still another element. In contrast, the term “directly on”means that an element is directly on another element withoutintervention of any other element.

Although the terms “first, second, and so forth” are used to describediverse elements, components, regions, layers, and/or sections, suchelements, components, regions, layers, and/or sections are not limitedby the terms. The terms are used only to discriminate an element,component, region, layer, or section from other elements, components,regions, layers, or sections. Accordingly, in the following description,a first element, first component, first region, first layer, or firstsection may be different from or may be identical to a second element,second component, second region, second layer, or second section withina range that does not deviate from the scope of the present invention.

In the following description of the present invention, the terms usedare for explaining embodiments of the present invention, but do notlimit the scope of the present invention. In the description, a singularexpression may include a plural expression unless specially described.The term “comprises” and/or “comprising” used in the description meansthat one or more other features, regions, integers, steps, operations,elements, and/or components are not excluded in addition to thedescribed features, regions, integers, steps, operations, elements,and/or existence or addition of components.

Spatially relative wordings “below”, “beneath”, “lower”, “above”,“upper”, and so forth, as illustrated in the drawings, may be used tofacilitate the description of relationships between an element orconstituent elements and another element or other constituent elements.The spatially relative wordings should be understood as wordings thatinclude different directions of the element in use or operation inaddition to the direction illustrated in the drawings. For example, ifan element illustrated in the drawing is stated reversely, the elementdescribed to be “below” or “beneath” another element may be put “above”the another element. Accordingly, the exemplary wording “below” mayinclude both directions corresponding to “below” and “above.” An elementmay be rotated by 90° or another angle, and thus the spatially relativewordings may be interpreted accordingly.

Unless specially defined, all terms (including technical and scientificterms) used in the description could be used as meanings commonlyunderstood by those ordinary skilled in the art to which the presentinvention belongs. In addition, terms that are generally used but arenot defined in the dictionary are not interpreted ideally or excessivelyunless they have been clearly and specially defined.

Hereinafter, preferred embodiments of the present invention will bedescribed in detail with reference to the accompanying drawings. Thematters defined in the description, such as the detailed constructionand elements, are nothing but specific details provided to assist thoseof ordinary skill in the art in a comprehensive understanding of theinvention. However, the present invention is not limited to theembodiments disclosed hereinafter, but can be implemented in diverseforms.

First, wordings that may be used in the description will be defined.

Forward vehicle: Vehicle that is in front of a subject vehicle and movesin the same direction along the same road of the subject vehicle

Clearance: Distance between an end portion of a forward vehicle and afront portion of a subject vehicle

Region of interest: Region in which a potential vehicle of interest tobe described later and a target vehicle exist, and which may exert aninfluence on the control of a CACC system that is provided in a subjectvehicle

Potential vehicle of interest: Vehicle which exists in a region ofinterest and performs V2V communications with a subject vehicle

Target vehicle: Vehicle which is followed by a subject vehicle and whichmay be connected or may not be connected to a subject vehicle throughV2V communications

Time gap: Value that is calculated by the speed of a subject vehicle anda gap between a subject vehicle and a forward vehicle (timegap=gap/speed)

Hereinafter, preferred embodiments of the present invention will bedescribed in detail with reference to the accompanying drawings.

FIG. 1 is an exemplary diagram of a CACC system to which the presentinvention is applied.

As illustrated in FIG. 1 , a CACC system 300 that is applied to thepresent invention is a system to which wireless communications withfront vehicles and/or infrastructures are added in order to strengthenthe sensing capability of an ACC system in the related art. The CACCsystem 300 may receive a road speed limit, a time gap (time differencebetween a subject vehicle and a front vehicle), and/or other standardmessages from road-side equipment (RSE) using V2I communications. Thatis, the CACC system 300 of the vehicle may receive an input ofinformation, such as a recommended set speed or a time gap, from theregional traffic control system through the V2I communications. Further,the CACC system may receive neighboring vehicle information thatincludes driving information (speed and acceleration) of a neighboringvehicle 20 through the V2V communications with at least one neighboringvehicle 20, or may transfer its own vehicle information to theneighboring vehicle 20. In addition, the CACC system may acquire vehicleinformation of a vehicle that may be in front of the subject vehicleusing sensors in the related art.

In this case, the traveling vehicle information may include vehicleidentification (ID) for discriminating from other vehicles, vehicleshape, size, brake performance, vehicle financial resource informationincluding total vehicle weight, vehicle position information indicatedby 3D coordinates of latitude, longitude, and altitude, vehicleprogressive angle measured on the basis of due north direction, vehiclespeed, acceleration, yaw rate, brake state, throttle position, andsteering angle.

Further, the CACC system may receive an input of a set speed or a timegap from a driver through a driver vehicle interface (DVI) 60, and maynotify the driver of state information of the CACC system. Further, theCACC system may acquire vehicle information 50 from various kinds ofsensors or control devices provided inside the vehicle. The CACC systemmay control the speed of the vehicle through control of the throttle orbrake based on various kinds of data collected through theabove-described method.

As described above, through the information acquisition by the V2Vcommunications and/or V2I communications, the CACC system can controlthe time gap with the front vehicle more accurately while maintainingsmooth driving comport, and can respond to the speed changes by aplurality of front vehicles quite rapidly. Further, the CACC system hasthe advantage that it can set a shorter time gap without weakeningsafety or driver's sense of stability.

FIG. 2 is a diagram illustrating a region of interest (ROI) of a CACCsystem on a straight road.

The CACC system may take interest in only neighboring vehicles that comeinto the region of interest (ROI). Information that comes from a vehiclethat is out of the ROI may be almost meaningless information incontrolling the vehicle. Accordingly, the CACC system may perform acontrol operation using only information that comes from vehicles thatare within the region of interest to reduce a load that is applied tothe CACC system.

Referring to FIG. 2 , the region of interest may be set to have lengthsof 16 m and 32 m in left and right directions, respectively, on thebasis of the center of the vehicle in which the CACC system is mounted.Further, the region of interest may be set to have a length of 250 m inthe front direction and a length of 100 m in the rear direction around adriver's seat. In the case of a curved road, the region of interest maybe set to bend the region of interest that is set on a straight road tomatch the curvature of the curved road.

Further, the CACC system may set a target vehicle and a potentialvehicle of interest (PVOI). The target vehicle means a front vehiclethat is followed by the subject vehicle that is mounted with the CACCsystem. That is, the CACC system uses a distance that is maintainedbetween the subject vehicle and the target vehicle when calculating thetime gap, and the target vehicle becomes a target for which the time gapis constantly maintained. The potential vehicle of interest means avehicle which is within the region of interest and is connected to theCACC system through the V2V communications. The potential vehicle ofinterest may be a vehicle that can exert an influence on the speedcontrol of the subject vehicle that is mounted with the CACC system. Avehicle which is in a side lane and is expected to join in the lane ofthe subject vehicle or a vehicle which is in the same lane as thesubject vehicle and the target vehicle and is in front of the targetvehicle may be the potential vehicle of interest, and the potentialvehicle of interest may become the target vehicle.

FIG. 3 is a block diagram illustrating the configuration of a CACCsystem according to an embodiment of the present invention.

Referring to FIG. 3 , a CACC system according to the present inventionmay include an information collection unit 310, a communication unit320, a DVI unit 340, and a control unit 330. The control unit 330 mayinclude a state management unit 331, a driving management unit 333, anda target vehicle selection unit 335, and may further include a profilemanagement unit 337.

The communication unit 320 may receive a road speed limit, a time gap(time difference between a subject vehicle and a front vehicle), and/orother standard messages from RSE 10 based on V2I communications. Thatis, the CACC system 300 of the vehicle may receive not only arecommended set speed or time gap information but also informationrelated to a road, traffic, weather, and life from the regional trafficcontrol system through the V2I communications. Further, thecommunication unit 320 may receive neighboring vehicle information thatincludes driving information (speed and acceleration) of a neighboringvehicle 20 through V2V communications with at least one neighboringvehicle 20, or may transfer its own vehicle information to theneighboring vehicle 20. Particularly, in this case, the communicationunit may provide not only its own driving information but alsoidentification information or driving information of a forward vehicleto the neighboring vehicle 20. In the case where the neighboring vehicleprovides only the identification information, the communication unit mayacquire vehicle information of a forward vehicle of the neighboringvehicle that has sent the identification information using informationthat comes from the neighboring vehicle having the identificationinformation. Accordingly, the subject vehicle can acquire the vehicleinformation even with respect to the target vehicle and a forwardvehicle of the target vehicle. On the other hand, in the case oftransmitting only the identification information, the amount of datathat is transmitted by the respective vehicles can be reduced.

Further, the information collection unit 310 may collect subject vehicleinformation that is required to control the CACC system and surroundingenvironment information that is collected using sensors. The subjectvehicle information may include subject vehicle driving speed, throttle,and brake control information, and the surrounding environmentinformation may include information of the neighboring vehicle 20 thatis collected through the sensors. In particular, if the target vehicleexists in front of the subject vehicle, the information collection unitmay collect the surrounding environment information through calculationof the driving speed of the target vehicle and a gap distance based onradar or lidar.

The DVI unit 340 may receive setting information that is input from adriver through driver-vehicle interface, and may transfer informationthat is needed to be notified by the driver, such as state informationof the CACC system 300 and warning information that may be generated bythe CACC system 300, to the driver. As an example, the driver may inputa target speed and/or target time gap through the DVI unit 340, and theCACC system 300 may operate the subject vehicle to match the inputtarget speed and/or target time gap. As another example to be describedlater, the state information on whether the CACC system is in an offstate, a standby state, or an activation state may be notified by thedriver through the DVI unit 340.

Further, the CACC system may further include a driving unit (notillustrated). The driving unit may control a throttle and/or a brakeaccording to a control signal of the control unit 330 to be describedlater.

The control unit 330 may control the driving speed of the subjectvehicle based on the information that is acquired by the informationcollection unit 310 and the communication unit 320. That is, the controlunit 330 may select a target vehicle to be followed by the subjectvehicle based on the vehicle information of the neighboring vehiclesthat is acquired by the communication unit 320 and the drivinginformation of the forward vehicle that is collected by the informationcollection unit 310, may control the driving speed of the subjectvehicle based on the target speed of the subject vehicle if the targetvehicle to be followed by the subject vehicle is not selected, and maycontrol the driving speed of the subject vehicle based on speedinformation of the target vehicle, speed information of the subjectvehicle, and the target time gap if the target vehicle to be followed bythe subject vehicle is selected. In this case, a user may set the targetspeed and the target time gap, or the CACC system may automatically setthe target speed and the target time gap to match the situation based onthe information that is acquired by the information collection unit 310and the communication unit 320.

In order to perform the above-described functions, the control unit 330may include a state management unit 331, a driving management unit 333,a target vehicle selection unit 335, and/or a profile management unit337.

The target vehicle selection unit 335 may select a potential vehicle ofinterest and the target vehicle based on the vehicle information of aplurality of neighboring vehicles 20 that comes through thecommunication unit 320. The potential vehicle of interest means aneighboring vehicle that exists in the region of interest as describedabove. If the neighboring vehicle is within the region of interest basedon position information that is received from the neighboring vehicleand position information of the subject vehicle, the correspondingneighboring vehicle may be selected and registered as the potentialvehicle of interest. In addition, the forward vehicle that is just infront of the subject vehicle among the potential vehicles of interestmay be selected as the target vehicle. Particularly, in the case of thetarget vehicle, it is required to verify the target vehicle with veryhigh reliability, and thus the target vehicle may be selected throughverification of three kinds of conditions below based on the forwardvehicle information that is collected through the information collectionunit 310.

1. Using position information of potential vehicles of interest, thepotential vehicles of interest (hereinafter referred to as “first groupof potential vehicles of interest”) that travel in the same lane as thelane of the subject vehicle are selected.

2. Potential vehicles of interest (hereinafter referred to as “secondgroup of potential vehicles of interest”), in which existence rangeinformation that is received from each potential vehicle of interest ofthe first group of potential vehicles of interest exists within onevalue of (0.1×(the range measured by the sensor)) and (0.7×(the lengthof each potential vehicle of interest)) that is larger than the othervalue, are selected. In this case, if the length of the potentialvehicle of interest is not known, the value of (0.7×(the length of eachpotential vehicle of interest)) may be 3.3 m.

3. Potential vehicles of interest (hereinafter referred to as “thirdgroup of potential vehicles of interest”), in which a difference betweenspeed information that is received from each potential vehicle ofinterest of the second group of potential vehicles of interest and thespeed that is measured by the sensor is within 1 m/s, are selected.

It is general that only one potential vehicle of interest is included inthe third group of potential vehicles of interest that is selectedthrough verification of the three kinds of conditions. However, in thecase where two or more potential vehicles of interest are included inthe third group of potential vehicles of interest, the potential vehicleof interest that is in the closest position may be selected as thetarget vehicle based on the position information of each potentialvehicle of interest of the third group of potential vehicles ofinterest.

If the existence/nonexistence of the target vehicle or potential vehicleof interest is determined by the target vehicle selection unit 335, suchinformation may be transferred to the state management unit 331, thedriving management unit 333, and/or the profile management unit 337 tobe used to match the purposes of the respective functions.

The state management unit 331 may manage the state of the CACC system.The CACC system may be in an off state, a standby state, or anactivation state in accordance with the state of the subject vehicle,and existence/nonexistence of the target vehicle and/or potentialvehicle of interest.

FIG. 4 is a diagram illustrating state transitions of a CACC systemaccording to an embodiment of the present invention.

Referring to FIG. 4 , the CACC system may include an off state 400 inwhich the CACC system does not operate, a standby state 500 in which theCACC system operates, but does not control the driving speed of thesubject vehicle, and an activation state 600 in which the driving speedof the subject vehicle is controlled. In particular, the activationstate 600 may include an ACC activation state 610 in which the drivingspeed of the subject vehicle is controlled using only the informationthat is acquired from the subject vehicle in a state where there is novehicle in the region of interest that is connected through the V2Vcommunications, and a cooperative activation state 620 in which there isa neighboring vehicle in the region of interest that is connectedthrough the V2V communications, and the driving speed of the subjectvehicle is controlled using the information from the neighboring vehiclethat is acquired through the V2V communications and the information thatis acquired from the subject vehicle.

The off state 400 is a state in which the CACC system does not operate.That is, in the off state 400, the CACC system performs no function. TheCACC system may be transitioned to the off state 400 through stalling ofthe subject vehicle or driver's manual operation.

The standby state 500 is a state in which the CACC system stands to beactivated, and in the standby state 500, the CACC system does notperform the speed control. If the subject vehicle starts up, the CACCsystem may be transitioned to the standby state 500 after automaticcompletion of self-diagnosis in the off state 400, or may betransitioned from the off state 400 to the standby state 500 by thedriver's manual operation. Further, the CACC system may be transitionedto the standby state 500 if a driver's manual control input, such asbrake or throttle control, is received in the activation state 600.

The activation state 600 is a state in which the CACC system isactivated to perform the speed control. As described above, theactivation state 600 may include the ACC activation state 610 and thecooperative activation state 620. If there is not a potential vehicle ofinterest or a target vehicle that is connected through the V2Vcommunications, the CACC system operates in the ACC activation state610, whereas if there is a potential vehicle of interest or a targetvehicle that is connected through the V2V communications, the CACCsystem operates in the cooperative activation state 620. The CACC systemmay be transitioned to the activation state 600 if the speed of thesubject vehicle becomes higher than a predetermined speed (hereinafterreferred to as a “first speed”) in the standby state 500. Further, ifthe speed of the subject vehicle is lowered below the first speed in theactivation state 600, the CACC system may forbid acceleration or may betransitioned to the standby state 500.

When the CACC system is transitioned to the activation state 600, it mayfirst operate in the ACC activation state 610. In the ACC activationstate 610, cruise control may be performed to match the highest speedthat is set like the ACC system in the related art, or following controlmay be performed if a front vehicle exists. In the ACC activation state610, if a potential vehicle of interest or a target vehicle that isconnected through the V2V communications exists and data that isreceived from the potential vehicle of interest or the target vehicle isreasonable, the CACC system may be transitioned to the cooperativeactivation state 620. In an embodiment of the present invention, ifinformation related to the potential vehicle of interest or the targetvehicle that is received using the V2V communications coincides with thevehicle information that is acquired by the sensor of the subjectvehicle through the information collection unit 310, it may be verifiedthat the data is reasonable. Such verification may be performed by thetarget vehicle selection unit 335.

Further, if the potential vehicle of interest or the target vehicle doesnot exist in the cooperative activation state 620, the CACC system maybe transitioned to the ACC activation state 610, and even if the V2Vcommunications are not performed or only unreasonable data is received,the CACC system may be transitioned to the ACC activation state 610.

The cooperative activation state 620 of the CACC system may include anon-follow mode 621, a close-follow mode 622, and a follow mode 623. Thenon-follow mode 621 is a mode that is performed in the case where thepotential vehicle of interest is connected through the V2Vcommunications, but the target vehicle does not exist, and the speedcontrol of the subject vehicle through the CACC system may be affectedby data that is received from the potential vehicle of interest.

The close-follow mode 622 is a mode that is performed in the case wherethe target vehicle that is connected through the V2V communicationsexists, and in this case, the speed control of the subject vehiclethrough the CACC system may be affected by information that comes fromthe connected target vehicle and potential vehicle of interest.

The follow mode 623 is a mode that is performed in the case where thetarget vehicle exists, but is not connected through the V2Vcommunications. In this case, the target vehicle may be sensed by thesensor of the subject vehicle, and such information may be acquired bythe information collection unit 310. In this case, the speed control ofthe subject vehicle through the CACC system may be affected byinformation that comes from the connected potential vehicle of interestand the target vehicle that is sensed by the sensor.

The CACC system may operate in one of the above-described three kinds ofmodes in the cooperative activation state 620, and the three kinds ofmodes may be determined depending on whether the target vehicle existsand whether the target vehicle is connected through the V2Vcommunications.

That is, referring to FIG. 4 , if the target vehicle does not exist inthe region of interest, but the potential vehicle of interest exists inthe cooperative activation state 620, the CACC system may betransitioned (A) to the non-follow mode 621, and if the target vehiclethat is connected through the V2V communications exists, the CACC systemmay be transitioned (B) to the close-follow mode. If the target vehiclethat is not connected through the V2V communications exists in theregion of interest and the potential vehicle of interest also exists inthe region of interest, the CACC system may be transitioned (C) to thefollow mode 623.

If neither the connected target vehicle nor the potential vehicle ofinterest exists, the CACC system may be transitioned to the ACCactivation state 610.

Maximum and minimum requirements per mode that can be controlled in theactivation state 600 of the CACC system may be defined as in Table 1below.

TABLE 1 Target Target Whether to use data vehicle vehicle PVOI MinimumMaximum Maximum received through existence connection existence CACCmode time gap Deceleration Acceleration V2V communications No no no ACC0.8 s 3.5 m/s{circumflex over ( )}2 2.0 m/s{circumflex over ( )}2 Unusedactivation state: Speed control mode Yes no no ACC 0.8 s 3.5m/s{circumflex over ( )}2 2.0 m/s{circumflex over ( )}2 Unusedactivation state: Follow mode No no yes Cooperative 0.8 s 3.5m/s{circumflex over ( )}2 2.0 m/s{circumflex over ( )}2 Used activationstate: Non-follow mode Yes yes no Cooperative 0.5 s   5 m/s{circumflexover ( )}2 2.75 m/s{circumflex over ( )}2  Used activation state:Close-follow mode Yes yes yes Cooperative 0.5 s   5 m/s{circumflex over( )}2 2.75 m/s{circumflex over ( )}2  Used activation state:Close-follow mode Yes no yes Cooperative 0.8 s 3.5 m/s{circumflex over( )}2 2.0 m/s{circumflex over ( )}2 Used activation state: Follow mode

Referring to Table 1, the CACC system is unable to set the minimum timegap to 0.5 s or less, is unable to perform deceleration control of 5m/s{circumflex over ( )}2 or more through control of maximum brake, andis unable to perform acceleration control of 2.75 m/s{circumflex over( )}2 or more through control of throttle.

Referring again to FIG. 3 , the state management unit 331 may manage thestate of the CACC system 300 according to the above-described method,and if the CACC system 300 is in an activation state, the drivingmanagement unit 333 may control the driving speed of the subjectvehicle. In the case of the CACC system 300, the driving speed isgenerally controlled so that the driver can perform driving to match theset target speed. However, if the target vehicle exists, the drivingspeed may be controlled so that the subject vehicle can follow thetarget vehicle.

According to the present invention, the driver may set a target speedprofile that can maximize the fuel efficiency based on the set targetspeed, and the driving management unit 333 may manage the driving speedof the subject vehicle according to the set target speed profile. Thatis, the driving management unit 333 may control the driving speed of thesubject vehicle through control of an auxiliary deceleration means thatincludes a throttle, brake, and fuelcut.

In this case, the used target speed profile may be set by the profilemanagement unit 337. However, if the target vehicle exists in front andthe follow control is performed, it may not be possible to performdriving according to the set target speed profile, and in this case, itis required to generate a new target speed profile for maximizing thefuel efficiency.

FIG. 5 is a diagram illustrating a target speed profile that isgenerated by a profile management unit 337 according to driver's targetspeed setting and a driving speed of a target vehicle according to anembodiment of the present invention.

Referring to FIG. 5 , if the driver sets a target speed Vset, theprofile management unit 337 may calculate a target speed profileV_(old_calc)(t) for improving or maximizing fuel efficiency throughsynthesis of road information that can be acquired with respect to apath to travel in the future based on the set target speed Vset. Theprofile management unit 337 may collect map information and navigationwhich are stored in the subject vehicle based on path information thatis input by the driver or is automatically calculated, and roadinformation, such as a curvature, a grade, and a radius of rotation of aspecific road on a path related to the path from a regional trafficcontrol system using V2I communications and/or from a front vehicleusing V2V communications, and may set the target speed profile using thecollected road information. The target speed profile may beautomatically generated whenever the driver sets the target speed orchanges the path regardless of the current state of the CACC system.

The target speed profile that is generated by the profile managementunit 330 may be transferred to the driving management unit 333, and thedriving management unit 333 may control the driving speed of the subjectvehicle to match the target speed profile.

However, if a target vehicle that travels at a constant speed exists infront although the target speed profile is set and the subject vehicletravels accordingly, the driving management unit 333 may perform thecontrol that disregards the target speed profile in order to match a gapdistance or a time gap for preset safety. In this case, if the subjectvehicle travels according to the target speed profile in a state wherethe speed of the target vehicle is lower than the speed according to thetarget speed profile as shown as an example of FIG. 5 , collisionbetween the subject vehicle and the target vehicle will occur after sometime.

That is, if the current time is t0, collision may occur in the minimumtime t1 in which the following is materialized.D(t0)≤∫_(t0) ^(1i)(V _(old_calc)(t)−V _(target))dt

Here, D(t0) denotes a distance between the subject vehicle and thetarget vehicle at t0, V_(old_calc) (t) denotes the driving speed of thesubject vehicle at time t through the target speed profile, andV_(target) denotes the driving speed of the target vehicle.

In order to prevent such collision, the driving management unit 333 mayperform the follow control regardless of the target speed profile, butin order to maximize the fuel efficiency, it is required to set a newtarget speed profile and to perform driving accordingly. Thus, thedriving management unit 333 may request the profile management unit 337to set a new target speed profile according to the existence of thetarget vehicle, and the profile management unit 337 may set the newtarget speed profile to match such a request.

As an example of setting a new target speed profile, the profilemanagement unit 337 may set the new target speed profile to match thespeed of the target vehicle.

FIG. 6 is a diagram illustrating a new target speed profile that is setby a profile management unit 337 according to a driving speed of atarget vehicle.

Referring to FIG. 6 , the profile management unit 337 may set a newtarget speed profile V_(new_calc_0)(t) based on the driving speed of thetarget vehicle. The newly set target speed profile may be transferred tothe driving management unit 333 to control the driving speed of thesubject vehicle. That is, if the target vehicle exists, the profilemanagement unit 337 may set a new target speed profile that has the samespeed change as the speed change of the target speed profile in therelated art in order to improve or maximize the fuel efficiency based onthe driving speed of the target vehicle instead of the target speed setby the driver. Referring to an example of FIG. 6 , if the target speedset by the driver is 80 km/h and the driving speed of the target vehicleis 60 km/h, the profile management unit 337 may set a new fuelefficiency improvement target speed profile toV_(new_calc_0)=V_(old_calc)(t)−20. The newly set target speed profilemay be transferred to the driving management unit 333, and the drivingmanagement unit 333 may manage the driving according to the newly settarget speed profile.

However, in the case of setting the new fuel efficiency improvementtarget speed profile in this method, it is required to determine whetherthe preset minimum gap distance or minimum time gap can be maintained.If not, it is required for the driving management unit 333 to performthe speed change that includes an artificial deceleration section.

More specifically, in order to prevent collision between the subjectvehicle and the target vehicle when the subject vehicle travels with thenew target speed profile, the distance between the subject vehicle andthe target vehicle should satisfy a preset allowable minimum distance Dmin or a preset allowable time gap τ min. Here, the allowable minimumdistance D min may be D min=τ min×E(V). Here, E(V) may be an average ofthe driving speed of the subject vehicle during the time gap τ min. Inthis case, if the current distance between the subject vehicle and thetarget vehicle is equal to or larger than Ds that is calculated throughan equation below, the minimum distance between the subject vehicle andthe target vehicle becomes larger than D min when the subject vehicletravels with the new target speed profile to prevent the collision. Thatis, Ds may mean the minimum distance for preventing collision betweenthe target vehicle and the subject vehicle during following of the newtarget speed profile, and may be calculated through the equation below.Ds=D min+|min(Δd)|

Here, min(A) means the minimum value of A, and |B| means an absolutevalue of B. Further, Δd is a relative distance variation between thesubject vehicle and the target vehicle, and may be calculated byintegrating a difference between the target vehicle driving speedV_(target) and the newly set target speed profile V_(new_calc_0)(t) asin the following equation.Δd=∫(V _(target) −V _(new_calc_0)(t))dt

Referring to the above equation, min(Δd) may be the maximum distancethat is narrowed by the speed difference between the subject vehicle andthe target vehicle.

Accordingly, if the current inter-vehicle distance between the targetvehicle and the subject vehicle is smaller than Ds, there is apossibility of collision when the driving is performed with the newlyset target speed profile, and thus a speed change that includes anartificial deceleration section for securing Ds may be additionallyrequired.

FIG. 7 is a diagram illustrating an example in which a new target speedprofile is set after deceleration is performed to maintain a presetminimum inter-vehicle distance or a minimum time gap according to anembodiment of the present invention.

Referring to FIG. 7 , in the case where the driving is performed tofollow V_(new_calc_0)(t) that is set by the profile management unit 337as the new target speed profile, it is determined that the presetminimum inter-vehicle distance or the minimum time gap cannot bemaintained, and thus it is required to perform an additionaldeceleration.

The additional deceleration may be performed by a main brake (frictionalbrake) or an auxiliary deceleration means. Here, the auxiliarydeceleration may mean a certain means that can decelerate the vehicle inaddition to the main brake (frictional brake), and may include allmeans, such as fuelcut, engine brake, auxiliary brake (retarder orexhaust brake), and eco-roll (neutral gear state), that can deceleratethe vehicle with improved fuel efficiency in comparison to a case wherethe main brake is used.

Depending on the deceleration methods, methods for calculating the speedV_(decel)(t) of a deceleration section that is set by the drivingmanagement unit 333 may differ from each other. In an embodiment of thepresent invention, when the deceleration is performed using an auxiliarydeceleration means, such as fuelcut, the speed V_(decel)(t) according torespective time may be calculated as follows.V _(decel)(t)=∫a _(Fuelcut) dt+V _(current)

Here, a_(Fuelcut) means a vehicle acceleration (deceleration having anegative (−) value) in the case where the auxiliary deceleration meansis performed, and V_(current) denotes the current speed of the subjectvehicle.

However, if the calculated V_(decel)(t) is lower than the minimum speedV_(low_limit) that is preset in the CACC system, V_(decel)(t) may be setas the minimum speed. Here, as the minimum speed, a value that is equalto or larger than the first speed that can change the state of the CACCsystem from the activation state 600 to the standby state 500 may beused.

If the artificial deceleration is performed as described above, amarginal distance from the target vehicle can be secured (710) asillustrated in FIG. 7 during the deceleration. After securing themarginal distance, the driving management unit 333 may request theprofile management unit 337 to generate a new target speed profile, andthe profile management unit 337 may generate a new target speed profileV_(new_calc_t)(t) according to the request. The driving management unit333 may calculate the driving cost during the driving as maintaining thedriving cost during the driving and the current speed according to thenew target speed profile, and may control the driving speed of thesubject vehicle using the driving method having a low driving cost.Here, the driving cost may mean the cost that is calculated inconsideration of all economical consumption factors including a fuelconsumption amount, which is required for the vehicle driving.

In an embodiment, the driving management unit 333 may calculate adriving cost Cc in the case of driving to maintain the current speed anda driving cost Ccontrol in the case of driving according to a new targetspeed profile V_(new_calc_t)(t), and may compare the calculated drivingcosts with each other. If Ccontrol is smaller than Cc, the drivingmanagement unit may additionally compare the minimum speed V_(low_limit)that is preset in the CACC system 300 with the current driving speed Vcof the subject vehicle, and if the current driving speed Vc is higherthan the minimum speed V_(low_limit), the driving management unit maysecure a distance that is equal to or longer than Ds through performingof deceleration through the auxiliary deceleration means. If the currentdriving speed Vc is lower than the minimum speed V_(low_limit), thetraveling management unit 333 may maintain the driving according to theminimum speed V_(low_limit).

Unlike this, if Cc is smaller than Ccontrol, the driving management unitmay compare the current speed of the vehicle with the driving speedV_(target) of the target vehicle, and may set the driving speed of thevehicle in consideration of the driving speed of the target vehicle, thecurrent driving speed of the subject vehicle, the minimum speed that ispreset in the subject vehicle, a distance Dcruise that is required untilreaching the driving speed V_(target) of the target vehicle through theauxiliary deceleration means, a distance Dbrake that is required untilreaching the driving speed V_(target) of the target vehicle throughbraking by a brake, and distance margins M1 and M2 according to thedeceleration method.

More preferably, if the current speed of the vehicle is lower than thespeed of the target vehicle, the driving management unit may set tomaintain the current speed, whereas if the current speed of the vehicleis higher than the speed of the target vehicle, the driving managementunit may compare the current distance from the target vehicle with avalue that is obtained by summing the distance that is required to reachthe driving speed V_(target) of the target vehicle through speedreduction of the subject vehicle through the auxiliary decelerationmeans and the distance margin M1 according to the deceleration method.

Further, if the value that is obtained by summing the distance that isrequired to reach the driving speed V_(target) of the target vehiclethrough speed reduction of the subject vehicle through the auxiliarydeceleration means and the distance margin M1 according to thedeceleration method is larger than the current distance from the targetvehicle, the driving management unit may compare the current distancefrom the target vehicle with a value that is obtained by summing thedistance Dbrake that is required to reach the driving speed V_(target)of the target vehicle through braking by the brake and the distancemargin M2 according to the deceleration method. Here, the distanceDbrake may include the minimum gap distance D min that is set in theCACC system. That is, the distance Dbrake may be defined by a sum of thedistance Dx that is required to reach the driving speed V_(target) ofthe target vehicle through braking by the brake and the minimum gapdistance D min. The distance Dx has a value that is always smaller thanthe distance that is required to reach the driving speed V_(target) ofthe target vehicle through the deceleration by the auxiliarydeceleration means, and in this case, the braking range may be withinthe braking range that is allowable in the CACC system.

FIG. 8 is a diagram illustrating an example of a driving speed of asubject vehicle according to an inter-vehicle distance and cost sizes ofCc and Ccontrol according to the present invention.

Referring to FIG. 8 , section A corresponds to a case where the currentinter-vehicle distance Dc1 is larger than Dx. In this case, since a safeinter-vehicle distance is secured, collision with the target vehicledoes not occur even if the current target speed profile is followed, thedriving according to the set target speed profile may be performed.

In contrast, section B corresponds to a case where the currentinter-vehicle distance Dc2 is smaller than Dx, but is larger than thesum of the distance Dcruise that is required to reach the driving speedV_(target) of the target vehicle through the auxiliary decelerationmeans and the distance margin when using the auxiliary decelerationmeans, and the driving to maintain the current vehicle speed isperformed.

Here, M1 is a certain value that is set by the user according to adistance measurement error between the subject vehicle and the targetvehicle and a speed control error of the CACC system, and may be set toa value that is equal to or larger than 0. More preferably, M1 mayinclude a certain value that is set by a vehicle manufacturer duringshipment.

Dcruise may mean a distance that is required to reach the driving speedV_(target) of the target vehicle through deceleration by the auxiliarydeceleration means, and may be calculated by the following equation.D _(cruise)=∫₀ ^(t) V _(decel)(τ)dτ+D min

Section C corresponds to a case where the current inter-vehicle distanceDc3 is smaller than the sum of the distance Dcruise that is requireduntil reaching the driving speed V_(target) of the target vehiclethrough deceleration by the auxiliary deceleration means and thedistance margin M1 according to the auxiliary deceleration means, anddiscloses the configuration of performing the deceleration by theauxiliary deceleration means. Thereafter, in section D, the drivingspeed of the subject vehicle may be equal to the driving speedV_(target) of the target vehicle in order to maintain the currentinter-vehicle distance.

As disclosed above, Dc1, Dc2, and Dc3 are certain numbers that are givento express the current inter-vehicle distance at different determinationtime points, and continuous distance determination may be performed atthe respective time points.

FIG. 9 is a diagram illustrating a change of an inter-vehicle distancebetween a subject vehicle and a target vehicle in the case where thesubject vehicle performs constant-speed driving at a speed that ishigher than a target vehicle driving speed according to an embodiment ofthe present invention.

Referring to FIG. 9 , section A1 is a section in which the subjectvehicle maintains the current driving speed during driving. In sectionA1, the subject vehicle constantly travels at the current driving speed,and thus the inter-vehicle distance from the target vehicle isdecreased. Section B1 corresponds to a case where the currentinter-vehicle distance Dc1 is smaller than the sum of Dcruise and M1 andis larger than the sum of Dbrake and M2. In section B1, the relativespeed becomes lowered through deceleration using the auxiliarydeceleration means, and thus the slope in which the inter-vehicledistance is decreased becomes lowered in comparison to section A1.

Here, M2 is a value that is set in consideration of the decelerationspeed that can provide comfortable braking force to the driver whenbraking is performed, and may be optionally set by the user or duringthe vehicle shipment in consideration of the vehicle speed error and thebraking force that is set in the CACC system.

More preferably, M2 may be set in consideration of the decelerationspeed value that enables the driver to feel smooth braking, and thedeceleration speed of the smooth braking may be set within a range thatis lower than the maximum deceleration speed that is set in the CACCsystem.

The distance margin M2 according to the braking may have a value that issmaller than the value of the distance margin M1 according to theauxiliary deceleration means, and may have a negative value.

Further, the value Dbrake+M2 should be set to be always smaller than thevalue Dcruise+M1, and the sum of the deceleration distance according tothe braking and the distance margin M2 should be smaller than the sum ofthe deceleration distance through the auxiliary deceleration means andthe distance margin M1.

Section C1 may be a section in which an abrupt braking is required, andmay occur according to barge-in of the potential vehicle of interest orspeed deceleration of the target vehicle. In section C1, the currentinter-vehicle distance Dc2 becomes smaller than the sum of Dbrake andthe distance margin M2 according to the braking, and in this case,braking of the subject vehicle may be performed using a brake.

In the graph as illustrated in FIG. 9 , the sections B1 and C1 areconfigured to control the driving of the subject vehicle throughcomparison of the current inter-vehicle distance during determinationwith the sum of the inter-vehicle distance and the distance that isrequired until reaching the driving speed V of the target vehiclethrough the auxiliary deceleration means on condition of the subjectvehicle that travels at a normal speed that is higher than the speed ofthe target vehicle.

FIG. 10 is a diagram illustrating distance relations among Dcruise,Dbrake, M1 and M2.

Referring to FIG. 10 , in an embodiment of the present invention,distance Dcruise that is obtained by summing the distance Dfuelcut inwhich the auxiliary deceleration means (fuel cut in an example of FIG.10 ) performs deceleration and the minimum distance D min that is set inthe CACC system is disclosed. FIG. 10 illustrates a start time forperforming the fuelcut as the auxiliary deceleration means, and furtherillustrates a time for performing braking within the range of Dbrake,which includes the distance Dx that is required to perform decelerationup to the driving speed V_(target) of the target vehicle according tothe braking force, and the deceleration speed that is set in the CACCsystem.

M1 is a distance margin in the case of performing the decelerationthrough the auxiliary deceleration means, and may be set by the user inconsideration of the speed error and the distance measurement error forthe target vehicle. M2 is a distance margin in the process of performingthe braking, and may correspond to the measurement and setting errors.

As illustrated in FIG. 10 , Dfuelcut has a value that is physicallylarger than the values of Dx and D min, and Dcruise also has a valuethat is larger than the value of Dbrake.

FIG. 11 is a flowchart of a control method for improving fuel efficiencyof a CACC system using a target speed profile if a target vehicle existsaccording to an embodiment of the present invention.

In the case of the CACC system according to the present invention, it isdetermined whether to start the operation of the CACC system (S10). Ifthe CACC system does not operate, speed control is not performed (S50),whereas if the CACC system operates, a target speed profile may be set(S20) on the basis of a target speed of the subject vehicle and anexpected driving path. As an example, in the case where the CACC systemis transitioned from an off state 400 to a standby state 500, the targetspeed profile may be set. The target speed profile may be set on thebasis of the target speed that is set by the user in consideration of aroad grade, curvature, and inclination that are stored in the controlunit based on path information that is set by the user.

As described above, after the target speed profile is set, whether atarget vehicle exists is determined (S30). If the target vehicle doesnot exist, the driving of the subject vehicle is controlled according tothe set target speed profile (S60). If the target vehicle exists, aprocess (S40) of comparing the current inter-vehicle distance Dc betweenthe target vehicle and the subject vehicle with the minimum distance Dsthat can prevent collision with the target vehicle even if the subjectvehicle travels according to the target speed profile may be performed.

If Dc is larger than Ds as the result of the comparison, the driving iscontrolled according to the target speed profile that is set at S20(S60), whereas if Dc is smaller than Ds, fuel efficiency driving may beperformed (S100).

The fuel efficiency driving may be performed in consideration of adriving cost Cc in the case of driving to maintain a decelerated currentspeed after deceleration so that Ds becomes smaller than Dc, a drivingcost Ccontrol in the case of driving according to a new target speedprofile that is generated based on the decelerated current speed, thetarget vehicle speed, the current speed of the subject vehicle, theminimum driving speed set in the subject vehicle, a distance required toreach the speed Vtarget of the target vehicle through an auxiliarydeceleration means without releasing the CACC system, and a distancemargin according to a deceleration method.

FIG. 12 is a flowchart illustrating a control method for performingfuel-efficiency driving according to an embodiment of the presentinvention.

In order to perform the fuel efficiency driving, the CACC systemcompares the driving cost Cc in the case of a constant-speed driving tomaintain the current speed after deceleration of the subject vehicle sothat Ds becomes smaller than Dc with the driving cost Ccontrol in thecase of driving according to the new target speed profile that isgenerated based on the decelerated current speed (S110).

In this case, if Cc is larger than Ccontrol, the CACC system comparesthe current speed of the subject vehicle with the minimum speedVlow_limit that is set in the CACC system (S111).

If the current speed of the subject vehicle is higher than the minimumspeed, the CACC system operates to decelerate the subject vehiclethrough an auxiliary deceleration means (S112), whereas if the currentspeed of the subject vehicle is lower than the minimum speed, the CACCsystem operates to drive the subject vehicle at the minimum speed(S123).

Unlike this, if Cc is smaller than Ccontrol, the CACC system comparesthe current speed of the subject vehicle with the speed of the targetvehicle (S120). If the current speed of the subject vehicle is lowerthan the speed of the target vehicle, the CACC system drives the subjectvehicle through maintaining of the current speed (S121), whereas if thecurrent speed of the subject vehicle is higher than the speed of thetarget vehicle, the CACC system compares a current distance Dc2 betweenthe subject vehicle and the target vehicle with the sum of a distanceDcruise that is required until reaching the driving speed V_(target) ofthe target vehicle through the auxiliary deceleration means and adistance margin M1 that is required for the auxiliary deceleration means(S130). If the current distance Dc2 between the subject vehicle and thetarget vehicle is larger than the sum of Dcruise and the distance marginM1 that determines the time for the auxiliary deceleration means, theCACC system is set to maintain the current speed (S133), whereas if thedistance Dc2 between the subject vehicle and the target vehicle issmaller than the sum of Dcruise and M1, the CACC system compares thedistance Dc2 between the subject vehicle and the target vehicle with thesum of a distance Dbrake that is required until reaching the drivingspeed of the target vehicle through braking by a brake and a distancemargin M2 that is required during the braking (S131).

If the current distance Dc2 between the subject vehicle and the targetvehicle is smaller than the sum of Dbrake and the distance margin M2,the CACC system performs braking by the brake (S132), whereas if thecurrent distance Dc2 between the subject vehicle and the target vehicleis larger than the sum of Dbrake and the distance margin M2, the CACCsystem performs deceleration through the auxiliary deceleration means.

As described above, according to the present invention, the vehicle iscontrolled to follow the optimum fuel efficiency driving profile orspeed through application of the above-described logic every moment, andthus it is possible to control the vehicle for fuel efficiencyimprovement in heavy traffic conditions.

On the other hand, it should be understood that the CACC is exemplifiedin the specification for convenience in explanation. The CACC is merelyone of various ADAS functions, and the CACC implementation that isproposed according to the present invention may also be used toimplement other related ADAS functions. For example, the proposed methodaccording to the present invention may be used even to implement one ora combination of ADAS functions, such as CACC, ACC (Adaptive CruiseControl), LCDAS (Lane Change Decision Aid System), LDWS (Lane DepartureWarning System), LKAS (Lane Keeping Assistance System), RBDPS (RoadBoundary Departure Prevention System), PDCMS (Pedestrian Detection andCollision Mitigation System), CSWS (Curve Speed Warning System), FVCWS(Forward Vehicle Collision Warning System), and LSF (Low SpeedFollowing).

In one or more exemplary embodiments, explained functions may beimplemented by hardware, software, firmware, or a certain combinationthereof. In the case of implementation by software, these functions maybe stored or transmitted as one or more instructions or codes on acomputer readable medium. The computer readable medium includes both acommunication medium and a computer storage medium which include acertain medium that facilitates transfer of computer programs from oneplace to another place. The storage medium may be a certain usablemedium that can be accessed by a computer. As an example that is notlimitation, such a computer readable medium may include a RAM, ROM,EEPROM, CD-ROM or another optical disk storage, magnetic disc storage oranother magnetic storage device, or another medium that can be accessedby a computer, and may be used to transfer or store desired programcodes in the form of instructions or data structures. Further, a certainconnection may be properly called a computer readable medium. Forexample, if software is transmitted from a web site, a server, oranother remote source using a coaxial cable, optical fiber cable,twisted dual lines, digital subscriber line (DSL), or wirelesstechnology, such as infrared, radio, or ultrahigh frequency, the coaxialcable, optical fiber cable, twisted dual lines, DSL, or wirelesstechnology, such as infrared, radio, or ultrahigh frequency is includedin definition of the medium. The disk and disc, as used herein, includea compact disc (CD), laser disc, optical disc, digital versatile disc(DVD), floppy disk, and blu-ray disc. In general, the disk magneticallyreproduces data, whereas the disc optically reproduces data by laser.The above-described combinations should also be included in the range ofthe computer readable medium.

In the case where the embodiments are implemented by program codes orcode segments, it should be recognized that the code segment canindicate procedures, functions, subprograms, programs, routines,subroutines, modules, software packages, classes, or instructions, datastructures, or a certain combination of program commands. The codesegment may be connected to another code segment or a hardware circuitthrough transfer and/or reception of information, data, arguments,parameters, or memory content. The information, arguments, parameters,and data may be transferred, sent, or transmitted using a certain propermeans that includes memory share, message transfer, token transfer, andnetwork transmission. Additionally, in some aspects, steps and/oroperations of methods or algorithms may reside as one, a combination, ora set of codes and/or commands on a machine-readable medium and/or acomputer readable medium that may be integrated as computer programthings.

In the case of software implementation, the above-described technologiesmay be implemented by modules (e.g., procedures or functions) thatperform the above-described functions. Software codes may be stored inmemory modules and may be executed by processors. The memory unit may beimplemented in the processor or outside the processor, and in this case,the memory unit may be communicably connected to the processor byvarious means as is known in the art.

In the case of hardware implementation, processing units may beimplemented in at least one of an application-specific integratedcircuit (ASIC), a digital signal processor (DSP), a digital signalprocessing device (DSPD), a programmable logic device (PLD), a fieldprogrammable gate array (FPGA), a processor, a controller, amicrocontroller, a microprocessor, other electronic units that aredesigned to perform the functions as described above, and theircombinations.

As described above, one or more embodiments are exemplified. Allpossible combinations of components or methods are not described for thepurpose of explaining the above-described embodiments, but those skilledin the art may recognize that many additional combinations andsubstitutions of various embodiments are possible. Accordingly, theabove-described embodiments may include all substitutions,modifications, and changes within the true meaning and scope of appendedclaims. Further, the term “comprises” and/or “composed of” used in thedescription and claims means that one or more other components, steps,operation and/or existence or addition of devices are not excluded inaddition to the described components, steps, operation and/or devices.

As is used herein, the term “estimate” or “estimation” means a processfor determining or estimating the system, environment, and/or user'sstate from one set of observations that is generally seized by eventsand/or data. The estimation may be used to identify a specific situationor operation, and may generate, for example, probability distribution ofstates. The estimation may be in probability, and may be calculation ofprobability distribution of corresponding states based on considerationof the data or events. The estimation may be technologies that are usedto construct upper-level events from one set of events and/or data. Suchestimation may estimate new events or operations from a set of observedevents and/or stored event data, whether the events are closelycorrelated in time, and whether the events and data come from one orseveral events and data sources.

Further, the term “component”, “module” or “system”, as used in thedescription of the present invention, is not limited thereto, but mayinclude hardware, firmware, hardware and software combination, software,or computer related entity, such as software being executed. Forexample, a component is not limited to its name, but may be a processthat is executed on a processor, a processor, an object, executableexecution thread, a program and/or a computer. Exemplarily, anapplication that is driven on an operation device and an operationdevice may be components in all. One or more components may reside in aprocess and/or execution thread, and components may be concentrated intoone computer and/or may be distributed between two or more computers.Further, such components may be executed from various kinds of computerreadable media in which various kinds of data structures are stored. Thecomponents may communicate with each other by a local and/or remoteprocess according to signals having one or more data packets (e.g., datafrom a local system, another component of a distributed system, and/or acertain component that interacts with other systems by the signalthrough a network, such as the Internet).

It will be understood that the above-described embodiments are exemplaryto help easy understanding of the contents of the present invention anddo not limit the scope of the present invention. Accordingly, the scopeof the present invention is defined by the appended claims, and it willbe construed that all corrections and modifications derived from themeanings and scope of the following claims and the equivalent conceptfall within the scope of the present invention.

What is claimed is:
 1. A cooperative adaptive cruise control (CACC)system of a subject vehicle to control a driving speed of the subjectvehicle, the CACC system comprising: a communication unit configured towirelessly connect the subject vehicle and neighboring vehicles throughVehicle to Vehicle (V2V) communication and receive vehicle informationincluding position and driving information from the neighboring vehiclesusing the V2V communication; an information collection unit configuredto comprise sensors, and collect driving information of a forwardvehicle and vehicle information of the subject vehicle using at leastone of the sensors of the subject vehicle; and a controller configuredto select a target vehicle to be followed by the subject vehicle basedon the vehicle information of the neighboring vehicles that is acquiredby the communication unit and the driving information of the forwardvehicle that is collected by the information collection unit, to controlthe driving speed of the subject vehicle based on a target speed of thesubject vehicle if the target vehicle to be followed by the subjectvehicle is not selected, and to control the driving speed of the subjectvehicle based on speed information of the target vehicle, speedinformation of the subject vehicle, and a target time gap if the targetvehicle to be followed by the subject vehicle is selected, wherein thecontroller selects the target vehicle by: selecting vehicles that travelin the same lane as the subject vehicle as a first group of potentialvehicles of interest, selecting, in the first group of potentialvehicles of interest, vehicles that exist within a predetermineddistance as a second group of potential vehicles of interest, whereinthe distance is measured by both the V2V communication and the at leastone of the sensors, selecting, in the second group of potential vehiclesof interest, vehicles in which a difference between speed informationreceived by the V2V communication and a speed measured by the at leastone of the sensors is within a predetermined value as a third group ofpotential vehicles of interest, and selecting one vehicle in the thirdgroup of potential vehicles of interest as the target vehicle to befollowed by the subject vehicle.
 2. The CACC system according to claim1, wherein controller is further configured to control a throttle and abrake to control the driving speed of the subject vehicle.
 3. The CACCsystem according to claim 1, further comprising a driver vehicleinterface (DVI) unit configured to receive an input of the target speedor the target time gap or both from a driver and to notify the driver ofstate information of the CACC system.
 4. The CACC system according toclaim 1, wherein the controller is further configured to: manage a stateof the CACC system; select the target vehicle to be followed by thesubject vehicle based on the vehicle information of the neighboringvehicles that is acquired from the communication unit and the drivinginformation of the forward vehicle that is collected by the informationcollection unit; set a target speed profile based on the target speed ofthe subject vehicle and an expected driving path if there is not thetarget vehicle, and to set a target speed profile based on the speedinformation of the target vehicle, the speed information of the subjectvehicle, and the expected driving path if there is the target vehicle;and control the driving speed of the subject vehicle according to theset target speed profile.
 5. The CACC system according to claim 4,wherein the controller manages the state of the CACC system as one of anoff state in which the CACC system does not operate, a standby state inwhich the CACC system operates, but does not control the driving speedof the subject vehicle, an ACC activation state in which the drivingspeed of the subject vehicle is controlled using only the informationthat is acquired from the subject vehicle in a state where there is novehicle in a region of interest that is connected through the V2Vcommunication, and a cooperative activation state in which there is theneighboring vehicle in the region of interest that is connected throughthe V2V communication, and the driving speed of the subject vehicle iscontrolled using the information from the neighboring vehicle that isacquired through the V2V communication and the information that isacquired from the subject vehicle.
 6. The CACC system according to claim4, wherein the controller sets a new target speed profile if there is apossibility of collision when the driving speed of the subject vehicleis controlled according to the set target speed profile, and resets thetarget speed profile based on the speed information of the targetvehicle, the speed information of the subject vehicle, and the expectedpath information.
 7. A control method for a cooperative adaptive cruisecontrol (CACC) system that is provided in a subject vehicle to control adriving speed of the subject vehicle, comprising: determining whether tostart the CACC system operation; setting a target speed profile based ona target speed of the subject vehicle and an expected driving path uponstarting of the CACC system operation; determining whether a targetvehicle to be followed by the subject vehicle exists; controlling thedriving speed of the subject vehicle according to the set target speedprofile if the target vehicle does not exist as the result of thedetermination; controlling the driving speed of the subject vehiclebased on speed information of the target vehicle, speed information ofthe subject vehicle, and a target time gap if the target vehicle existsas the result of the determination; wherein the determining whether thetarget vehicle exists is based on: selecting vehicles that travel in thesame lane as the subject vehicle as a first group of potential vehiclesof interest, selecting, in the first group of potential vehicles ofinterest, vehicles that exist within a predetermined distance as asecond group of potential vehicles of interest, wherein the distance ismeasured by both Vehicle to Vehicle (V2V) communication and at least oneof sensors provided on the subject vehicle, selecting, in the secondgroup of potential vehicles of interest, vehicles in which a differencebetween speed information received by the V2V communication and a speedmeasured by the at least one of the sensors is within a predeterminedvalue as a third group of potential vehicles of interest, and selectingone vehicle in the third group of potential vehicles of interest as thetarget vehicle to be followed by the subject vehicle.
 8. The controlmethod according to claim 7, wherein the controlling the driving speedof the subject vehicle comprises controlling a throttle and a brake. 9.The control method according to claim 7, the method further comprises:receiving an input of the target speed or the target time gap or bothfrom a driver through a driver vehicle interface (DVI); and notifyingthe driver of state information of the CACC system.
 10. The controlmethod according to claim 7, the method further comprises: managing astate of the CACC system; selecting the target vehicle to be followed bythe subject vehicle based on vehicle information of neighboring vehiclesthat is acquired from the V2V communication and driving information of aforward vehicle that is collected from the at least one of the sensorsprovided on the subject vehicle; setting a target speed profile based onthe target speed of the subject vehicle and an expected driving path ifthere is not the target vehicle, and setting a target speed profilebased on the speed information of the target vehicle, the speedinformation of the subject vehicle, and the expected driving path ifthere is the target vehicle; and controlling the driving speed of thesubject vehicle according to the set target speed profile.
 11. Thecontrol method according to claim 10, wherein the managing the state ofthe CACC system comprises: managing the state of the CACC system as oneof an off state in which the CACC system does not operate, a standbystate in which the CACC system operates, but does not control thedriving speed of the subject vehicle, an ACC activation state in whichthe driving speed of the subject vehicle is controlled using only theinformation that is acquired from the subject vehicle in a state wherethere is no vehicle in a region of interest that is connected throughthe V2V communication, and a cooperative activation state in which thereis the neighboring vehicle in the region of interest that is connectedthrough the V2V communication, and the driving speed of the subjectvehicle is controlled using the information from the neighboring vehiclethat is acquired through the V2V communication and the information thatis acquired from the subject vehicle.
 12. The control method accordingto claim 10, the method further comprises: setting a new target speedprofile if there is a possibility of collision when the driving speed ofthe subject vehicle is controlled according to the set target speedprofile, and resetting the target speed profile based on the speedinformation of the target vehicle, the speed information of the subjectvehicle, and the expected path information.